建立了基于激光立体视觉的空间焊缝定位系统,使带有离线编程系统的弧焊机器人可以适应批量生产中每次焊缝位置的变化.利用激光视觉传感器获取空间焊缝特征点的机器人基坐标系坐标,用B样条曲线拟合测量点.可以快速实现空间焊缝的精确定位.

The locating system for space weld seam based on laser stereovision is developed.With this system,arc welding robots with off-line program system can cope with the location variation of weld seams each time in batched manufacturing.Laser visual sensor is used to get position information of space weld seams,and B-spline curve fitting for measuring data is developed.Precise localization of space weld seams is realized quickly.